Pith Number

pith:RUKTDIPD

pith:2026:RUKTDIPDDBPOG2UY4OIWTTIXPE

not attested not anchored not stored refs pending

AssemLM: A Spatial Reasoning Multimodal Large Language Model for Robotic Assembly

Chenjia Bai, Huazhe Xu, Jicong Ao, Jinbin Qiao, Ouyang Lu, Shuang Qiu, Yu-Gang Jiang, Zhi Jing

AssemLM integrates point clouds into a multimodal LLM via a specialized encoder to predict accurate 6D poses for robotic assembly.

arxiv:2604.08983 v2 · 2026-04-10 · cs.RO

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\pithnumber{RUKTDIPDDBPOG2UY4OIWTTIXPE}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

AssemLM achieves state-of-the-art performance in 6D pose reasoning across diverse assembly scenarios. Furthermore, real-robot evaluations show that our model can support fine-grained and multi-step assembly execution in real-world settings.

C2weakest assumption

That the specialized point cloud encoder successfully captures fine-grained geometric and rotational features which integrate effectively with the multimodal language model to produce accurate 3D spatial reasoning that generalizes to real robots.

C3one line summary

AssemLM uses a specialized point cloud encoder inside a multimodal LLM to reach state-of-the-art 6D pose prediction for assembly tasks, backed by a new 900K-sample benchmark called AssemBench.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-06-12T01:09:27.622397Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8d1531a1e3185ee36a98e39169cd17790d72a17233171958f9cc22a8263d1af8

Aliases

arxiv: 2604.08983 · arxiv_version: 2604.08983v2 · doi: 10.48550/arxiv.2604.08983 · pith_short_12: RUKTDIPDDBPO · pith_short_16: RUKTDIPDDBPOG2UY · pith_short_8: RUKTDIPD

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/RUKTDIPDDBPOG2UY4OIWTTIXPE \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 8d1531a1e3185ee36a98e39169cd17790d72a17233171958f9cc22a8263d1af8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e5ec8dc8c49019ed9d3e229209b2ef73acdeac22594396bb3f14adeee27dfe55",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-10T05:43:39Z",
    "title_canon_sha256": "b599b82fa37233a947dcbf24c5e451cc73f28d4baeed9f97dd1ab7732ec560a9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.08983",
    "kind": "arxiv",
    "version": 2
  }
}